摘要
柔性关节动态误差的非线性因素影响卫星的姿态控制和星载天线对目标的指向精度。基于此,建立漂浮基座星载天线的动力学模型,推导柔性关节动态误差非线性动力学模型,分析柔性关节动态误差对星载天线的扰动影响,并提出星载天线指向轨迹跟踪非线性控制器算法,利用Lyapunov理论证明所提出的算法是渐近稳定的。结果表明,阻尼和刚度相同情况下,当关节存在动态误差时,即使幅值很小,但作为激励将产生不可预知的振动响应,产生强烈的力矩和速度波动;通过合理选取控制器参数可抑制其扰动,可完全补偿柔性关节的动态误差。结论对星载天线指向精度的分析与控制具有重要的理论价值及工程实际意义。
The nonlinear characteristic of dynamic error impacts on pointing accuracy and satellite attitude.The dynamic model of satellite antenna is established.The model of dynamic error of flexible joints is deduced.Disturbance effects of satellite antenna are analyzed considering dynamic error of joint-flexible.The nonlinear control algorithm for compensation of pointing accuracy of satellite antenna is proposed for tracking trajectory.The asymptotic stability of the proposed algorithm is proved by using Lyapunov stability theory.The result shows that the presence of dynamic error of flexible-joint can produce an unpredictable vibration response and velocity fluctuations under the condition of the same damping and stiffness,even if the amplitude is small.With reasonable controller parameters,the controller algorithm can completely compensate for the dynamic error and suppress its disturbance.The conclusion has important theoretical value and engineering significance.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2011年第5期85-92,共8页
Journal of Mechanical Engineering
基金
国家自然科学基金(50975056
11072066)
国家高技术研究发展计划(863计划
2008AA0987)资助项目
关键词
星载天线
柔性关节
动态误差
扰动
轨迹跟踪控制
Satellite antenna Flexible-joint Dynamic error Disturbance Trajectory tracking control
